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Path planning for autonomous robots is an essential capacity for these systems. One class of path planning algorithms use potential fields. However, some problems associated with these algorithms include (1) Trapping due to local minima, (2) No passage between closely spaced obstacles, and (3) Limit cycles. This paper presents a potential-field-based(More)
To navigate in complex environments, a robot needs to reach a compromise between the need for having efficient and optimized trajectories and the need for reacting to unexpected events. This paper presents a new sensor based non-holonomic Path Planner which integrates the global motion planning and local obstacle avoidance capabilities. In the first step(More)
BACKGROUND AND OBJECTIVE Laser ablation of stratum corneum (SC) enhances transdermal delivery of hydrophilic drugs. The influence of the infrared (IR) (lambda = 1,064 nm), visible (lambda = 532 nm), and ultraviolet (UV) (lambda = 355 nm) radiations of a Nd:YAG laser on transdermal delivery of 5-Fluorouracil (5-Fu) across skin was studied in vitro. (More)
This paper presents a new path planning method which operates in two steps. In the first step the safest areas in the environment are extracted by means of a Voronoi diagram. In the second step fast marching method is applied to the Voronoi extracted areas in order to obtain the shortest path. In this way the trajectory obtained is the shortest between the(More)
The Fast Marching based algorithm proposed here solves the problem of finding Feedback Control Laws for mobile robots, including nonholonomic vehicles. It integrates in a single Real Time Controller the global motion planning tasks and the collision avoidance capabilities required to efficiently move a mobile robot in a dynamic environment. The solution(More)
Robot navigation in unknown environments requires an efficient exploration method. Exploration involves not only to determine towards the robot must to move but also motion planning, and simultaneous localization and mapping processes. The final goal of the exploration task is to build a map of the environment that previously the robot didn't know. This(More)
The Extended Voronoi Transform and the Fast Marching Method combination provide potential maps for robot navigation in previously unexplored dynamic environments. The Extended Voronoi Transform of a binary image of the environment gives a grey scale that is darker near obstacles and walls and lighter when far from them. The Logarithm of the Extended Voronoi(More)